Program Listing for File wait_action.hpp

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// Copyright (c) 2018 Samsung Research America
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef NAV2_BEHAVIOR_TREE__PLUGINS__ACTION__WAIT_ACTION_HPP_
#define NAV2_BEHAVIOR_TREE__PLUGINS__ACTION__WAIT_ACTION_HPP_

#include <string>

#include "nav2_behavior_tree/bt_action_node.hpp"
#include "nav2_msgs/action/wait.hpp"

namespace nav2_behavior_tree
{

class WaitAction : public BtActionNode<nav2_msgs::action::Wait>
{
public:
  WaitAction(
    const std::string & xml_tag_name,
    const std::string & action_name,
    const BT::NodeConfiguration & conf);

  void on_tick() override;

  void initialize();

  static BT::PortsList providedPorts()
  {
    return providedBasicPorts(
      {
        BT::InputPort<double>("wait_duration", 1.0, "Wait time")
      });
  }

private:
  bool initialized_;
};

}  // namespace nav2_behavior_tree

#endif  // NAV2_BEHAVIOR_TREE__PLUGINS__ACTION__WAIT_ACTION_HPP_